WO2008034257A1 - Appareil, système et programme informatique permettant de commander un outil - Google Patents

Appareil, système et programme informatique permettant de commander un outil Download PDF

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Publication number
WO2008034257A1
WO2008034257A1 PCT/CA2007/001694 CA2007001694W WO2008034257A1 WO 2008034257 A1 WO2008034257 A1 WO 2008034257A1 CA 2007001694 W CA2007001694 W CA 2007001694W WO 2008034257 A1 WO2008034257 A1 WO 2008034257A1
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WO
WIPO (PCT)
Prior art keywords
tool
target area
moving assembly
travel path
actuator
Prior art date
Application number
PCT/CA2007/001694
Other languages
English (en)
Inventor
Agop Jean Georges Apkarian
Original Assignee
Agop Jean Georges Apkarian
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Agop Jean Georges Apkarian filed Critical Agop Jean Georges Apkarian
Priority to EP07815884A priority Critical patent/EP2064603B1/fr
Priority to CA2664146A priority patent/CA2664146C/fr
Priority to US12/442,191 priority patent/US20090255137A1/en
Publication of WO2008034257A1 publication Critical patent/WO2008034257A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B43—WRITING OR DRAWING IMPLEMENTS; BUREAU ACCESSORIES
    • B43L—ARTICLES FOR WRITING OR DRAWING UPON; WRITING OR DRAWING AIDS; ACCESSORIES FOR WRITING OR DRAWING
    • B43L13/00—Drawing instruments, or writing or drawing appliances or accessories not otherwise provided for
    • B43L13/10—Pantographic instruments for copying, enlarging, or diminishing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B44—DECORATIVE ARTS
    • B44B—MACHINES, APPARATUS OR TOOLS FOR ARTISTIC WORK, e.g. FOR SCULPTURING, GUILLOCHING, CARVING, BRANDING, INLAYING
    • B44B3/00—Artist's machines or apparatus equipped with tools or work holders moving or able to be controlled substantially two- dimensionally for carving, engraving, or guilloching shallow ornamenting or markings
    • B44B3/009—Artist's machines or apparatus equipped with tools or work holders moving or able to be controlled substantially two- dimensionally for carving, engraving, or guilloching shallow ornamenting or markings using a computer control means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40083—Pick up pen and robot hand writing
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/47—Tracing, tracking
    • G05B2219/4711—Using a pantograph

Definitions

  • the present invention generally relates to devices and systems used to reproduce or replicate human handwriting.
  • the present invention also relates generally to devices and systems used to control tools on a remote basis.
  • U.S. Patent No. 3,733,612 to Huston et al. teaches a signature reproduction machine that converts the position of a pen with respect to a piece of paper to signals recorded on a magnetic tape. The data stored on the magnetic tape can then be played back to reproduce the writing.
  • U.S. Patent No. 6,425,185 to Regnault et al. discloses a machine to reproduce writing, the machine including a pantograph.
  • the machine includes a pen lift mechanism.
  • MITSUBISHITM markets its MELFATM RP-I AH/3 AH/5 AH industrial robot having an arm moveable along all points of a surface.
  • the industrial robot includes a five-joint closed link mechanism that includes a series of robotic actuators at each joint.
  • these prior art references, and the prior art generally, do not disclose control of such devices that can accommodate various speeds of movement of a tool along a target area of an object, and pressures exerted by such tool on such target area.
  • these writing devices are generally intended to write on individual sheets of paper and therefore do not accommodate media of varying thicknesses.
  • these prior art devices are generally not operable to accept streamed data in real time, and move a tool in real time on the basis of the streamed data.
  • the prior art devices are generally not operable to enable movement of a tool along a predetermined travel path, with the accuracy and speed required for numerous applications, including for example real time reproduction of human writing.
  • the present invention provides an apparatus, system and computer program for controlling movement of a tool along a defined path.
  • a system for controlling movement of a tool along a defined path including a moving assembly that is operable to hold the tool, and to move the tool within a target area of an object held adjacent to the moving assembly, characterized in that the moving assembly comprises: at least two arm members, each arm member having a first end and a second end opposite from the first end, each arm member being spaced apart from one another and linked to a base by a first pivot, and each arm member including a second pivot disposed between the first end and the second end, wherein the first pivot and the second pivot enable the arm members to move in X and Y directions; at least one first actuator linked to the arm members at the first end, the first actuator being operable to move the arm members to a plurality of locations within an associated range of motion, and a first sensor linked to the first actuator for determining the location of the arm member; a holding assembly linked to the arm members at their second end, the holding assembly being operable to hold the tool; at least one second actuator linked to
  • the controller is operable to: obtain sensor data from each of the first sensor and the second sensor; extrapolate from such sensor data the location of the tool relative to the target area; and based on travel path data associated with a travel path defined for the tool along the target area, the travel path data including coordinate data for contact between the tool and the target area, velocity of travel of the tool at selected points of the travel path, and pressure exerted on the target area at selected points of the travel path, generate control signals in real time for the moving assembly bringing the tool in contact with the target area in compliance with the travel path data.
  • the controller is operable to define the travel path data such that XY positions for the tool, velocity data associated with XY positions, and pressure data for the tool to exert on the target surface are converted into temporally equally spaced real time travel path instructions for the applicable time intervals, and to convert the travel path instructions into actuator space commands.
  • a controller for controlling the movement of a moving assembly is provided, in accordance with the present invention.
  • a control computer program in accordance with the present invention is provided, as well as a method for controlling a moving assembly for moving a tool along a defined path.
  • the present invention is an apparatus having a pantograph mechanism.
  • the pantograph mechanism is operable to control a tool or instrument, e.g., a writing implement, such that the tool is applied to an object, e.g., a piece of paper or a book.
  • the pantograph mechanism is movable in relation to a ground member to provide a range of motion to accommodate objects of different sizes.
  • the pantograph mechanism which is articulated and has two degrees of freedom, comprises: a moving frame; a stabilizing frame; a pair of inner links and a pair of outer links; and a tool link.
  • the inner links are driven by two electric actuators whose positions can be measured using sensors.
  • the tool link is equipped with an actuated lift mechanism whose position can be measured using a sensor.
  • the tool link is connected to the tool.
  • the lift mechanism is preferably spring-loaded such that a loss of power to the lift motor results in the tool being removed from the object.
  • a spring extending from an anchor point on the moving frame to the tool link is used to pre-load the actuators to reduce any backlash effects.
  • one of the aspects of the invention is to pre-load the drive mechanism of the apparatus of the present invention.
  • this preloading this is accomplished by a spring placed (for example as shown in FIG. 5) so as to preloads the gearboxes on the actuators associated with the arms as well as the joints disposed on such arms.
  • the tool in this case a pen
  • the tool may relatively abrupt velocity changes in reproducing human handwriting, such velocity changes referring to changes in the speed and direction of the movement of the pen. Reproducing these changes may result in "wobbling" of the output script, particularly if the input signals of the human handwriting are obtained in real time.
  • Pre-loading of the drive mechanism creates a "stiffness" in the mechanism overall that reduces the "wobbling” and therefore contributes to an improvement in the accuracy of the movement of the moving assembly.
  • a torsional spring can be included on the tool link and can be pre-loaded to account for tool weight.
  • the moving frame is connected to the ground member by a vertical drive mechanism, the vertical drive mechanism having a motor and a sensor.
  • the vertical drive mechanism allows the pantograph mechanism to move vertically with respect to an object.
  • a sensor senses the contact between the stabilizing frame and an object.
  • the present invention is a system for controlling a tool, wherein the system is operable to receive a data feed and control the tool on the basis of the data feed.
  • the data feed can include live data streamed to the system on a substantially real time basis.
  • the system includes a computer having a feedback control system operable to receive real time data via a network connection and can write the received data in real time.
  • the control system includes a computer program having a trajectory generation utility that ensures that the tool moves at a maximum velocity achievable by the actuators while ensuring that all points commanded to the system are attained.
  • the computer program includes a control loop for maintaining contact between the tool and the object, for example a pen and paper, respectively, with programmable compliance and force, thus ensuring, for example, that the pen follows any uneven surface variations of the paper without damaging it.
  • FIG. 1 illustrates an apparatus for controlling movement of a tool in accordance with the present invention
  • FIG. 2 is a schematic of a contact and pressure algorithm
  • FIG. 3 is a schematic of a trajectory generation algorithm
  • FIG. 4 illustrates and alternate embodiment of an apparatus for controlling movement of a tool in accordance with the present invention.
  • FIG. 5 illustrates another alternate embodiment of an apparatus for controlling movement of a tool in accordance with the present invention.
  • an embodiment of an apparatus in accordance with the present invention includes a ground member (1) coupled to a moving frame (2) which is driven by an electrical actuator and is equipped with a position sensor.
  • ground refers to a part of a mechanical device that remains stationary with respect to moving parts, i.e. the moving parts move relative to the ground.
  • a moving frame (2) is coupled to an inner link A (3) as well as an inner link B (4). Both inner link A (3) and inner link B (4) are driven by an electric actuator equipped with a position sensor.
  • the inner link A (3) is coupled to an outer link A (5)
  • the inner link B (4) is coupled to an outer link B (6).
  • the outer link A and the outer link B are coupled together.
  • a tool link (7) is coupled to outer link B and is driven by an electric actuator equipped with a position sensor.
  • the tool link (7) holds a tool or instrument, for example, a pen.
  • a linear spring (8) is optionally connected from the coupling between outer link A and outer link B to an anchor point on the moving frame, and may be pre-tensioned to reduce any backlash.
  • a torsional spring (9) may be coupled between outer link B and the tool link and pre-loaded to counteract the mass of the tool and keep it away from the object in case of power loss.
  • a stabilizing frame (10), in accordance with one embodiment, may be loosely coupled to the moving frame and is equipped with sensors to detect contact with an object, for example, a book.
  • the apparatus is controlled by providing control voltages to the actuators and by measuring the sensor signals in order to apply a tool to an object in a controlled manner.
  • the apparatus described above is preferably linked to a computer, the computer including control software for controlling the apparatus, i.e. with sufficient data acquisition capabilities to measure the sensor states from the apparatus described above and to apply control signals to the actuators.
  • the computer may include a network connection, with the network connection operable to asynchronously receive tool position and pressure data from a remote connection.
  • the data could be live or recorded, and provided through an input device.
  • a suitable input device could include a standard digitizing tablet having a touch screen. It should be understood that the functionality of the controller of the present invention can also be implemented to hardware that is either linked to the apparatus or forms part of the apparatus.
  • the present invention provides a contact and pressure utility (not shown) (implemented for example by means of a suitable algorithm) that is operable to control the compliance of tool contact with an object, as well as the pressure (force) applied by the tool upon the object.
  • a contact and pressure utility (not shown) (implemented for example by means of a suitable algorithm) that is operable to control the compliance of tool contact with an object, as well as the pressure (force) applied by the tool upon the object.
  • FIG. 2 A block diagram of a representative contact and pressure algorithm is shown in FIG. 2, and illustrates the operation of the controller of the present invention.
  • the tool position is measured (11) and applied to a position control system (12) (in one representative embodiment of the present invention).
  • a gain KComp (13) controls the mechanical compliance of the contact.
  • the tool lift position control system may be a standard Proportional-Derivative (PD) controller in which the P term is equivalent to the KComp term described above and naturally thereby determines the stiffness of the joint.
  • PD Proportional-Derivative
  • the error between the command and the actual tool position (14) represents a measure of the current in the actuator and thus the pressure applied by the tool lift mechanism.
  • tool pressure (in accordance with this particular implementation) is not directly measured but rather inferred from the position error and the implicit stiffness programmed via KComp.
  • the current in the actuator can be directly measured from the amplifier (15) and used to calculate the applied pressure from motor characteristics.
  • the desired pressure may be commanded to another feedback loop consisting of a pure integral control with anti-windup. As shown in the FIG. 2, this loop generates a virtual and mechanically unattainable position command to the pen lift PD controller via a limited integrator (16) with gain (17) such that the applied pressure tracks the desired pressure command in a stable manner while maintaining contact compliance.
  • the controller of the present invention is operable to generate travel path data.
  • this is achieved using a trajectory generation algorithm that operates as shown in FIG. 3.
  • the trajectory generation algorithm processes incoming data and generates real time rate and acceleration limited commands for the actuators (in the form of control voltages or signals).
  • the trajectory generation algorithm receives commanded XY positions for the tool as well as pressure P (18) at an undetermined frequency and converts them to temporally equally spaced real time XY positions with controlled and limited and programmable Cartesian velocity (19).
  • the processed data are output (20) to an inverse kinematics algorithm (21) that converts the Cartesian coordinates to actuator space commands which are in turn are applied to the actuator control algorithm.
  • the incoming data (18) can be time stamped (T) and the algorithm will command the robot to track the commanded positions and associated pressure with a pre set rate limit.
  • the distance between the robot's present coordinates and its desired coordinates is computed.
  • the algorithm determines the subsequent step sizes and duration that must be commanded to the robot to ensure that the maximum accelerations and velocities are not exceeded. These steps are subsequently commanded to the robot at the real time sampling frequency of the controller until the final destination command is attained. Once this condition is achieved, the next point is obtained from the buffered data. If there is no next point, the robot holds its position until another point is reached.
  • the aforementioned step sizes are computed to either match the computed velocity from the timestamps T or to match the maximum speed attainable by the robot.
  • the robot will mimic the original motion more realistically; slowing down when the user slows down and speeding up to maximum speed when the user moves quickly.
  • FIG. 1 illustrates one particular structure in accordance with the present invention.
  • this embodiment of the invention is implemented as set out in the paragraph below.
  • All links are constructed in T6 aluminum. Bearings with quarter inch shafts constitute the rotational joints between the first and second links and between the two second links.
  • MICROMOTM 35mm DC brush motors with 66:1 gearboxes are the actuators for the two first links.
  • the tool lift mechanism is implemented using a 23mm MICROMOTM DC brush motor with a 14:1 gearbox followed by a 90 degree 3: 1 gearbox.
  • the motor frame longitudinal axis is aligned with the longitudinal axis of the second link to which it is mounted.
  • the tool holder is attached to the output of the 90 degree gear reduction.
  • a commercially available pen is coupled to the tool holder.
  • the vertical travel is attained using a 35mm motor with a 5: 1 gear ratio driving a NOOKTM lead screw with .125" pitch into a NOOKTM ball nut. All motorized axes are equipped with US DIGITALTM 1024 count incremental optical encoders.
  • the stabilizing frame is equipped with spring-loaded microswitches which trigger when the externally exerted force pressure exceeds 0.5 lbs.
  • a spring is extended between the joint at the tip and the frame onto which the two link motors are mounted and eliminates backlash in task space.
  • Another spring is extended between the tool holder and the frame onto which the tool lift motor is mounted ensuring that the tool is always lifted if the motor is inactive.
  • the motors are driven with QUANSERTM linear current amplifiers which along with all sensor signals, are interfaced to a standard desktop PC via a QUANSERTM Q4 hardware in the loop board.
  • Control systems are designed using SIMULINKTM and run in realtime at 2kHz using the WINCONTM realtime package. All control algorithms are implemented via code generation from SIMULINKTM and application specific C based S functions. Communications with a TCP/IP network is attained via the QUANSERTM TCP/IP blocks available from the WINCONTM library.
  • a COMPAQTM tablet is used as the digitizing device for handwriting. Natural handwriting is digitized using a custom application running on the tablet and streamed at the fastest possible rate to the realtime control system running the device.
  • FIG. 4 illustrates an embodiment of the invention in which the components of the moving assembly of the present invention are "inverted" relative to the embodiment illustrated in FIG. 1.
  • the parts and/or or sub-assemblies may be simplified, or for certain applications where greater speed or accuracy is desired, more complicated or costly parts, sub-assemblies, or structures may be used.
  • FIG. 4, for example illustrates a somewhat simpler structure than what is shown in FIG. 1, for example.
  • a method for controlling a moving assembly in another aspect of the present invention, a method for controlling a moving assembly is provided.
  • an initialization sequence in the real time code directs the vertical drive mechanism to move towards a sheet of paper (or some other target object) placed underneath it and stops moving when the sensors embedded in the stabilizing frame detect its presence.
  • the real time control system subsequently waits for data to arrive from the tablet.
  • the algorithm as described in FIG. 3 starts generating intermediate command points at the rate of 2kHz and submits them to the joint level controllers.
  • the tool lift mechanism is also actuated via the algorithm as described in FIG. 2 and applies the appropriate pressure onto the paper. Once all these loops are active, the robot starts reproducing the handwriting onto the sheet of paper as it arrives from the tablet asynchronously.
  • actuators used here are DC brush gearmotors, these may be replaced by DC brushless, stepper, direct drive, linear or AC motors.
  • the sensors, apart from the chosen optical incremental encoders, might be potentiometers, resolvers, magnetic encoders, absolute encoders or any other appropriate position or rate transducer.
  • the amplifiers should of course be selected for the motors accordingly.
  • the gearboxes need not be of the planetary type and can readily be replaced by other gearboxes or harmonic drives.
  • the realtime control system should be deterministic but need not run on a PC. It could be embedded into any realtime processor, DSP, microcontroller or FPGA.
  • the network connection is not limited to TCP-IP but could be any synchronous or asynchronous network connection including but not limited to serial, USB and firewire.
  • the input device in this example is a tablet but could be any motion digitizing device such as a microscribe, a mouse or a joystick.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un appareil, un système et un programme informatique permettant de réaliser un tracé à l'aide d'un outil ou de commander celui-ci d'une autre manière, ledit outil étant destiné à être utilisé conjointement avec un ou plusieurs objets. L'appareil comprend un pantographe conçu pour commander l'outil, le pantographe possédant une plage de mouvement adaptée à des objets de différentes dimensions. Le système peut être utilisé pour recevoir un flux de données et commander l'outil en fonction du flux de données reçu. Le système comprend de préférence un ordinateur comportant un programme informatique incorporant un algorithme permettant de commander le contact et la pression de l'outil et un algorithme permettant de commander la trajectoire de l'outil. L'invention est mise en œuvre sous la forme d'un système amélioré d'écriture robotisé, commandé à distance en temps réel, permettant l'écriture sur des supports différents, tels que des livres de dimensions et d'épaisseurs différentes.
PCT/CA2007/001694 2006-09-22 2007-09-24 Appareil, système et programme informatique permettant de commander un outil WO2008034257A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
EP07815884A EP2064603B1 (fr) 2006-09-22 2007-09-24 Appareil, système et programme informatique permettant de commander un outil
CA2664146A CA2664146C (fr) 2006-09-22 2007-09-24 Appareil, systeme et programme informatique permettant de commander un outil
US12/442,191 US20090255137A1 (en) 2006-09-22 2007-09-24 Apparatus, system and computer program for controlling a tool

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US82661906P 2006-09-22 2006-09-22
US60/826,619 2006-09-22

Publications (1)

Publication Number Publication Date
WO2008034257A1 true WO2008034257A1 (fr) 2008-03-27

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US (1) US20090255137A1 (fr)
EP (1) EP2064603B1 (fr)
CA (1) CA2664146C (fr)
WO (1) WO2008034257A1 (fr)

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WO2009121424A1 (fr) * 2008-04-02 2009-10-08 Montres Jaquet Droz S.A. Automate permettant d'ecrire l'heure
CN104950986A (zh) * 2014-03-26 2015-09-30 雅克德罗手表有限公司 能够书写签名的自动机
WO2015154172A1 (fr) * 2014-04-10 2015-10-15 Quanser Consulting Inc. Systèmes robotisés et procédés de fonctionnement de systèmes robotisés
CN109421412A (zh) * 2017-08-24 2019-03-05 河海大学 一种水彩画绘图机械装置
CN114310926A (zh) * 2021-11-29 2022-04-12 中建八局第一建设有限公司 一种顶板放线机器人

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EP2813374A1 (fr) * 2013-06-10 2014-12-17 Robert Levy Instrument de mesure et/ou de tracé et/ou de visée
WO2017066376A1 (fr) * 2015-10-15 2017-04-20 Newell Brands Génération d'objets rendus mécaniquement à partir d'une entrée numérique
CN106346461B (zh) * 2016-11-16 2018-07-24 西安科技大学 一种伺服控制3d绘图机器人
CN107127753A (zh) * 2017-05-05 2017-09-05 燕山大学 一种基于脱机文字识别的仿生写字机械手书写汉字系统
CN107093346A (zh) * 2017-05-09 2017-08-25 河南理工大学 一种笔顺训练系统
CN108001075A (zh) * 2017-11-30 2018-05-08 桂林理工大学 一种具有新型执行机构的签字机
WO2019199187A2 (fr) * 2018-04-13 2019-10-17 Universidad Tecnológica De Panamá Stylo simulateur de calligraphie
CN108656129A (zh) * 2018-05-31 2018-10-16 湖北新清科教育科技有限公司 一种基于服务机器人的定制出版系统
CN109129447A (zh) * 2018-08-27 2019-01-04 湖北新清科教育科技有限公司 一种书写擦除的机械强手臂结构
CN109278055A (zh) * 2018-11-19 2019-01-29 重庆科技学院 一种绘画机器人
US11385139B2 (en) 2018-11-21 2022-07-12 Martin E. Best Active backlash detection methods and systems
CN113059953B (zh) * 2021-05-07 2024-05-03 北京理工大学珠海学院 书写机器人及其书写方法、控制方法
CN113100573A (zh) * 2021-05-19 2021-07-13 潍坊智汇贻成科技创新有限公司 基于建筑测绘图纸设计的自动化尺体计量及比对方法
WO2023012775A1 (fr) * 2022-09-19 2023-02-09 Najafimehr Hamzeh Machine à copier des signatures permettant de saisir l'écriture manuscrite (signature) de la personne avec n'importe quel stylo, crayon, ou même marqueur sur n'importe quelle surface uniforme

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Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009121424A1 (fr) * 2008-04-02 2009-10-08 Montres Jaquet Droz S.A. Automate permettant d'ecrire l'heure
CN104950986A (zh) * 2014-03-26 2015-09-30 雅克德罗手表有限公司 能够书写签名的自动机
EP2923746A3 (fr) * 2014-03-26 2016-07-06 Montres Jaquet Droz SA Automate capable d'écrire une signature
US9530335B2 (en) 2014-03-26 2016-12-27 Montres Jaquet Droz Sa Automaton capable of writing a signature
WO2015154172A1 (fr) * 2014-04-10 2015-10-15 Quanser Consulting Inc. Systèmes robotisés et procédés de fonctionnement de systèmes robotisés
CN106457569A (zh) * 2014-04-10 2017-02-22 宽射咨询公司 机器人系统及操作机器人系统的方法
US9579797B2 (en) 2014-04-10 2017-02-28 Quanser Consulting Inc. Robotic systems and methods of operating robotic systems
CN106457569B (zh) * 2014-04-10 2019-03-12 宽射咨询公司 机器人系统及操作机器人系统的方法
CN109421412A (zh) * 2017-08-24 2019-03-05 河海大学 一种水彩画绘图机械装置
CN114310926A (zh) * 2021-11-29 2022-04-12 中建八局第一建设有限公司 一种顶板放线机器人
CN114310926B (zh) * 2021-11-29 2023-08-11 中建八局第一建设有限公司 一种顶板放线机器人

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CA2664146A1 (fr) 2008-03-27
EP2064603B1 (fr) 2013-01-09
EP2064603A4 (fr) 2011-11-23
US20090255137A1 (en) 2009-10-15
EP2064603A1 (fr) 2009-06-03
CA2664146C (fr) 2016-06-21

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